WO2022262863A1 - Procédé de déplacement d'étagère, système d'entreposage, et support d'enregistrement informatique - Google Patents

Procédé de déplacement d'étagère, système d'entreposage, et support d'enregistrement informatique Download PDF

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Publication number
WO2022262863A1
WO2022262863A1 PCT/CN2022/099566 CN2022099566W WO2022262863A1 WO 2022262863 A1 WO2022262863 A1 WO 2022262863A1 CN 2022099566 W CN2022099566 W CN 2022099566W WO 2022262863 A1 WO2022262863 A1 WO 2022262863A1
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Prior art keywords
shelf
storage
heat
shelves
attribute
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PCT/CN2022/099566
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English (en)
Chinese (zh)
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冯雄锋
王元元
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上海快仓智能科技有限公司
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Publication of WO2022262863A1 publication Critical patent/WO2022262863A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Definitions

  • the present disclosure relates to the technical field of storage management, in particular to a shelf shifting method, a storage system and a computer-readable storage medium.
  • Warehousing is an important link in logistics, which directly reflects the status of materials before and during circulation, and is the basis for enterprises to judge production and sales.
  • the main operations of the warehouse are the warehousing, inventory management and outbound operations of goods.
  • the operation time of storage and delivery is generally short, but the storage time of goods is longer, so the management of goods in storage is an important task of the warehouse.
  • Location management refers to the reasonable and effective planning and management of how to handle, how to place, and where to place the goods after they enter the warehouse.
  • the development of the modern warehousing industry increasingly requires that the function of the warehouse be changed from the original emphasis on commodity storage to the circulation of commodities. Therefore, the storage management link of purchase, distribution, and shipment is very critical, and the flow control of goods in the warehouse It is also very demanding.
  • a good storage strategy and layout can reduce the moving distance of storage, shorten the operation time, ensure the quality of goods, and even make full use of storage space.
  • One of the purposes of the present application is to provide a shelf shifting method, which at least solves the problem of shelf shift management in a warehouse.
  • the first aspect of the embodiment of the present application provides a shelf shifting method, including:
  • the second aspect of the embodiment of the present application provides a storage system, which includes multiple storage points, multiple shelves, transport vehicles and control devices.
  • Each storage point has a heat attribute; multiple shelves are distributed in the storage point, and each shelf has a heat attribute.
  • the control device communicates with the transport vehicle, and is configured to know the position of the shelf, and execute the above shelf shifting method.
  • the embodiment of the present application also provides a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above shelf shifting method when executed by a processor.
  • Figure 1a shows a schematic diagram of a storage point including two heat attributes according to an embodiment of the present application
  • Figure 1b shows a schematic diagram of a storage point including three heat attributes in an embodiment of the present application
  • Figure 1c shows a schematic diagram of the moving distance of the shelf according to one embodiment of the present application
  • Figure 1d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application
  • Fig. 2 shows the flow chart of the shelf shifting method of one embodiment of the present application
  • Fig. 3 shows the flow chart of S13 of the shelf shifting method of one embodiment of the present application
  • Fig. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application
  • Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application
  • FIG. 6 shows a flowchart of a shelf shifting method according to another embodiment of the present application.
  • Figure 7a shows a schematic diagram of the distance from a storage point to a workstation according to an embodiment of the present application
  • Fig. 7b shows a schematic diagram of distribution of heat attributes of storage points according to an embodiment of the present application
  • Fig. 7c shows a schematic diagram of the comparison between the heat attribute of the shelf before shifting and the heat attribute of the storage point according to an embodiment of the present application
  • Fig. 7d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application.
  • Fig. 7e shows a schematic diagram of the comparison between the heat attribute of the shelf after shifting and the heat attribute of the storage point according to an embodiment of the present application.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection.
  • Detachable connection, or integral connection it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the mutual communication of two components role relationship.
  • the storage system includes storage points, shelves and commodities, which correspond to different heat attributes.
  • the heat attribute of the storage point can be specified by the customer, and is generally determined according to the distance between the storage point and the workstation, or in other words, according to the distance between the storage point and the workstation, the storage points in the whole site are divided into specified categories of heat attributes.
  • the storage area is divided into grids, and each grid corresponds to a storage point.
  • Figure 1a shows that there are two heat attributes of storage points in the system, such as heat attribute A and heat attribute B, where the heat attribute is A storage point is closer to the workstation, and the heat is higher; the heat attribute is B The storage point distance The workstation is far away and the heat is low;
  • Figure 1b shows that there are three heat attributes of storage points in the system, such as heat attribute A, heat attribute B, and heat attribute C. The highest; the storage point whose heat attribute is C is the farthest from the workstation, and the heat is the lowest.
  • the numbers in the grid represent the moving distance to the workstation.
  • the storage point with a moving distance of 1 or 2 has the highest heat (red area), and the storage point with a moving distance of 3 has the second heat (yellow area).
  • Storage points 4-6 have the lowest heat (blue area).
  • the heat of the product can be specified by the customer, or can be calculated based on the historical picking data of the product.
  • the heat of the shelf needs to be determined according to the heat and quantity of the goods stored on the shelf.
  • the goods stored on the shelf are constantly changing with the selection and replenishment.
  • Reasonable calculation of the heat of the shelf can make the heat shift of the shelf more accurate and further improve Heat shift improves picking efficiency.
  • a rack shifting method provided in the first aspect of the embodiment of the present application, as shown in FIG. 2 , the rack shifting method 10 includes:
  • the initial parameter configuration of shelves and storage points includes one of the number of shelves, the number of storage points, the value of each thermal attribute or the proportion of storage points of each thermal attribute multiple.
  • the value of the i-th heat attribute is w i , where i ⁇ (1,2,...,m). According to an optional embodiment of the present application, the greater the heat attribute value, the higher the heat.
  • the w1 value of heat attribute A is the largest, the heat is the highest, and is the closest to the workstation (refer to the storage point whose heat attribute is A in Figure 1b); the heat attribute C has the smallest w3 value, and the heat The lowest and the farthest away from the workstation (refer to the storage point whose heat attribute is C in Figure 1b).
  • the value of the heat attribute of the product can be specified by the customer, or can be calculated based on the historical picking data of the product. For example, the product with the highest picking frequency or quantity has the largest heat attribute value; the product with the lowest picking frequency or quantity has the lowest heat attribute value.
  • the w 1 value of heat attribute A is the largest, the heat is the highest, and it is the closest to the workstation (refer to the storage point with heat attribute A in Figure 1b) or the picking frequency is the highest;
  • the heat attribute C has the smallest w 3 value, the lowest heat, and the distance from the workstation The furthest (refer to the storage point whose heat attribute is C in Figure 1b) or the highest picking frequency.
  • the heat of the shelf is mainly determined by the heat and quantity of the goods stored on the shelf, and the unit volume of different goods varies greatly, it is not very reasonable to directly measure the influence of the goods on the value of the heat attribute of the shelf by the number of goods.
  • the minimum storage unit for storing commodities in a shelf is a storage location (for example, a pallet on the shelf)
  • the degree of influence of the commodity on the value of the thermal attribute of the shelf can be measured by the number of storage spaces occupied by the commodity.
  • the different commodities stored in this location will share the location equally. For example, if there are 3 kinds of commodities stored in a certain location, regardless of the volume occupied by these 3 kinds of commodities in the location How big is it, they all occupy 1/3 of the location, and so on.
  • the value of the heat attribute of the shelf is calculated based on the value of the heat attribute of each commodity on the shelf and the ratio of the number of storages occupied by the commodity.
  • w i is the value of the heat attribute of each commodity.
  • V the greater the value of the heat attribute of the shelf, the higher the heat of the shelf, and the lowest value of the heat attribute of an empty shelf is 0.
  • the calculation method of the heat attribute value of a single shelf is explained above. Assuming that there are N shelves in the whole field, after calculating the value of the heat attribute of each shelf in turn, optionally, make an information table of the value of the heat attribute of the shelf. When the product type, quantity, or occupied storage space on the shelf changes, update the value of the heat attribute of the shelf to maintain the information table.
  • the shelves are sorted from the largest to the smallest based on the value of the heat attribute of the shelves, and the heat attribute of the shelf is determined in combination with the proportion of storage points.
  • the number of shelves is N
  • the number of shelves corresponding to each heat attribute is related to the total number of shelves and the storage point ratio of each heat attribute, and the shelves are allocated according to the storage point ratio of the heat attribute, and priority is given to those with high heat Heat property.
  • the heat attribute of the shelf is the i-th class, where ,
  • the length of the interval is rounded up from the product of the total number of shelves N and the proportion of storage points p i of the heat attribute, that is, the length of the interval is the number of shelves corresponding to the heat attribute.
  • the heat attribute is A
  • lb 1 0
  • the heat attribute is A
  • the value range of the heat attribute of the shelf is (0,1], that is, the number of shelves with heat attribute A is 1, including the first shelf.
  • the value range of the number of shelves of heat attribute C is (6,7], theoretically, the number of shelves of heat attribute C is 1, including the 7th shelf, but because there are only 5 shelves in total,
  • the popularity attribute A is allocated to 1 shelf, and the popularity attribute B is allocated to 4 shelves, the number of shelves for the popularity attribute C can only be 0.
  • the shifting gain of the shelf is an index to judge whether the shelf needs to be shifted, the selection of the target shifting storage point, and the overall optimality of mutual shifting of multiple racks. For the displacement of a single shelf, if the displacement gain is greater than 0, it means that the displacement is beneficial; if the displacement gain is less than 0, it means that the displacement is useless. Similarly, for the mutual shift of multiple shelves, if the total gain of the shift is greater than 0, it means that the overall shift is beneficial; if the total gain of the shift is less than 0, it means that the overall shift is unreasonable.
  • the shelf of each heat attribute it can be stored according to the priority order of the heat attribute of the storage location specified by the user.
  • the specified priority order is ⁇ B:[B,A,C,D] ⁇
  • the shelf with the attribute B is first stored in the storage point with the heat attribute B, followed by the storage point with the heat attribute A, then the storage point with the heat attribute C, and finally the storage point with the heat attribute D point.
  • the set of priority order can also be referred to as a candidate set of storage point heat attributes that can be stored on the shelf.
  • the heat attribute of the storage point can also be determined according to the distance between the storage point and the workstation.
  • the storage points in the whole field are partitioned according to the heat attribute and the proportion of the storage points, and the coordinate system of the storage points is established. Referring to Figure 1b, the storage point coordinate system is established with the lower left storage point as the origin, that is, the coordinates of the lower left storage point are (0,0), and the coordinates of the upper right storage point are (4,3), which can be understood as starting from the origin and moving to the right Move the distance of 4 storage points, and move up the distance of 3 storage points.
  • the degree of mismatch between the heat attributes of the shelf and the storage point is related to the priority order of the heat attributes of the storage points that the shelf can store.
  • the order value of the heat attribute of the storage point where the shelf is located in the priority sorting that is, the order value of the heat attribute candidate set of the storage position of the shelf (starting from 0) , to obtain the degree of mismatch between the heat attribute of the shelf and its storage point.
  • the candidate set is ⁇ B:[B,A,C,D] ⁇ , where the first letter B represents the heat attribute of the shelf, and the four letters in square brackets represent the set of heat attributes of the storage points that the shelf can store.
  • the order of four letters represents the order of priority.
  • the order value is 0, and the mismatch degree is 0, that is, it matches; when it is stored in the storage point with heat attribute A, the order value is 1 , the mismatch degree is 1; when it is stored in a storage point with a heat attribute of C, the order value is 2, and the mismatch degree is 2; when it is stored in a storage point with a heat attribute of D, the order value is 3, and the mismatch degree is 3 .
  • the order value of the heat attribute of the storage point in the candidate set of heat attribute of the storage position of the shelf is recorded as 0.
  • Fig. 3 shows the flow chart of S13 of the shelf shifting method of an embodiment of the present application, and above-mentioned S13 comprises:
  • the shift is beneficial when the heat attribute mismatch between the shelf and the storage point decreases after the shift, and the shift benefit is greater than 0, the shift is beneficial.
  • the shift gain of the exchange position of the two racks is calculated.
  • the first priority goal of heat displacement is to reduce the thermal attribute mismatch between the shelf and the storage point
  • the second priority goal is to reduce the displacement distance of the shelf .
  • FIG. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application, and above-mentioned S14 comprises:
  • S14-1 set the storage points whose value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point as the set E.
  • the heat attribute is A/B/C/D
  • the order of heat attribute values is A>B>C>D.
  • the shelves that need to be shifted are grouped according to the degree of mismatch.
  • the storage points that meet the conditions are divided into the set E.
  • the storage points whose value of the heat attribute of the shelf is smaller than the value of the heat attribute of the storage point are set as set F. That is, the shelves that need to be shifted are grouped according to the degree of mismatch, and when the value of the heat attribute of the shelf is less than the value of the heat attribute of the storage point, the storage points that meet the conditions are divided into the set F.
  • the method for calculating the matching gain between any storage point in the set E and any storage point in the set F includes: when the storage point in the set E and the storage point in the set F When there are shelves, the matching gain between two storage points is the shift gain of the two shelves; when one of the storage points is free, the matching gain between the two storage points is a shelf moving to another storage point The shift gain of ; when both storage points are free, the matching gain between the two points is set to negative infinity.
  • each A shifting scheme includes multiple sets of matching results, canceling the matching results whose matching gain is less than or equal to 0, and retaining the matching results whose matching gain is greater than 0. Then, the matching gains of multiple sets of matching results in each shifting scheme are summed, and the shifting scheme with the largest sum of matching gains is selected as the optimal global shifting scheme.
  • the adopted algorithm is such as the KM algorithm, and other algorithms that can be used for matching are also within the protection scope of the present application.
  • the above-mentioned global shifting scheme is realized based on pairwise matching of the shelves in the two sets and exchanging storage positions.
  • the storage points of the whole field can also be divided into multiple sets, for example, divided into three sets, Based on the circular matching of the shelves in the three sets and the exchange of storage positions, in addition, the operation of dividing the entire storage point into two or more sets can also be performed in S13, which are all within the scope of protection of this application Inside.
  • the shelf global shifting scheme includes generating a shifting task: when there are shelves on the two storage points that are successfully matched, the positions of the two shelves are exchanged, and two shifting tasks are generated at this time , since the start and end points of two tasks are the end points of each other, this type of task is recorded as a circular task group, that is, a circular shift task that exchanges the positions of two shelves is generated; when there are only two storage points that match successfully A shelf, move the shelf to another storage point, at this time a shift task is generated, which is recorded as a single-side shift task.
  • the shift task is assigned to the transport vehicle, where the transport vehicle can be an automatic guided vehicle (Automatic Guided Vehicle; AGV).
  • AGV Automatic Guided Vehicle
  • the unilateral shift task can be performed by one handling AGV at any time, and the ring task group including two shift tasks needs to be performed by two handling AGVs at the same time, because when one of the shift tasks reaches the target storage point, If another shift task has not been executed, continuing to occupy the storage point will cause the arriving shelves to wait indefinitely and occupy the resources of the AGV.
  • Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application, and above-mentioned S15 comprises:
  • this step includes three judgment conditions: when the number of circular shift tasks is less than or equal to n, all circular shift tasks participate in the distribution of transport vehicles; when the circular shift task When the number is greater than n, and n is an even number, randomly select n/2 circular shift tasks to participate in the distribution of trucks; when the number of circular shift tasks is greater than n, and n is an odd number, randomly select (n-1)/ 2 circular shifting tasks participate in the distribution of trucks. Repeat this step until all tasks of the ring task group are assigned
  • each transport vehicle may be time-division multiplexed.
  • shelf shifting method 10 has been described above through S11-S15, and those skilled in the art can understand that the present application does not limit the execution order of the steps. In order to better understand the technical solution of the present application, a complete example is further explained below.
  • Fig. 6 shows the flowchart of the shelf shifting method of an embodiment of the present application, and the shelf shifting method 20 includes:
  • the warehouse includes 1 workstation, 20 shelves, and 20 storage points.
  • the commodity category names are Sku1, Sku2...Sku6, and the numbers behind the commodity category names represent the quantity of commodities. 1 shows:
  • the popularity attribute of commodity Sku1 is A
  • the popularity attributes of commodity Sku2 and commodity Sku3 are both B
  • the popularity attributes of commodity Sku4, commodity Sku5 and commodity Sku6 are all C.
  • the different commodities stored in the storage location are equally divided into the storage location, and the storage number Ki occupied by the three heat attributes of the shelf is calculated, and each location in the shelf is traversed from left to right and from top to bottom:
  • the thermal attribute value of each shelf is calculated in turn, and the shelves are sorted according to the order of the thermal attribute values of the shelves from large to small.
  • the heat attribute is A
  • lb 1 0
  • the shelf of heat attribute A The value range of the popularity attribute value is (0,4], that is, the number of shelves for the popularity attribute A is 4, including the first to fourth shelves.
  • the heat attribute is B
  • the value range of the shelf heat attribute value of heat attribute B is (4,9], that is, the number of shelves of heat attribute B is 5, including the 5th to 9th shelves.
  • Figure 7a firstly, divide the entire field storage location into 20 grids, each grid corresponds to a storage point, and the number in the grid represents the distance d from the storage point to the workstation; then, refer to Figure 7b divides the whole field grid into specified categories of heat according to the proportion of storage points p i , among which there are 4 storage points of heat attribute A, the heat is the highest, and it is the closest to the workstation, which is set to red; the heat attribute B has a total of 5 storage points There are 11 storage points with heat attribute C, the lowest temperature and the farthest distance from the workstation, and they are set to blue; then, a storage point stores a shelf, according to the current storage point on the shelf.
  • Stored product heat, product quantity, and heat attribute calculate the value of the heat attribute of the shelf, determine the heat attribute of the shelf according to the arrangement order of the value of the heat attribute of all shelves and the proportion of storage points, and calculate the heat attribute of each storage point and Fill in the grid with the heat attribute of the corresponding shelf, assuming that the final result is shown in Figure 7c, where the first letter represents the heat attribute of the shelf, and the second letter represents the heat attribute of the storage point, such as the shelf filled in the lower left grid and the heat attribute of the storage point is C/B, then C is the heat attribute of the shelf, and B is the heat attribute of the storage point; finally, a coordinate system is established with the lower left storage point as the origin, and the coordinates of each storage point are shown in Figure 7d. For example, the coordinates of the lower left grid are (0,0), and the coordinates of the upper right grid are (4,3).
  • the shift gain of the shelf is calculated at S23. Referring to Figure 7c, the thermal properties of some storage points do not match the thermal properties of the shelves, and need to be shifted.
  • the priority order of the storage point heat attributes of shelves with three heat attributes is as follows: the heat attribute candidate set of the storage point stored first on the shelf with heat attribute A is [A, B, C], and the heat attribute is B.
  • the storage point heat attribute candidate set for shelf priority storage is [B,A,C].
  • the heat attribute mismatch between the current shelf and the storage point can be calculated.
  • the coordinate (0, 0) point The heat attribute of the shelf and storage point is C/B, and the heat attribute mismatch degree is 1.
  • the shelf at point (0, 0) and the shelf at point (3, 2) are swapped, the shelf at point (0, 0) and the storage point will have the heat attribute of (A/B) after the exchange, and the heat attributes will not match
  • the degree is 1
  • the heat attribute of the shelf and storage point at point (3, 2) is C/C
  • the maximum displacement distance of the whole field d_max 7, that is, according to the displacement distance from (0,0) point to (4,3) point, the shelf displacement at point (0,0) and the shelf displacement at point (3,2) are calculated.
  • the bit gain h is:
  • a shift gain greater than 0 indicates that shifting is beneficial and can reduce the mismatch between shelves and storage points.
  • the coordinate points included in the set E are: (0,1), (1,1), (1,3), (3,2), (4,0).
  • the coordinate points included in the set F are: (0,0), (1,0), (2,1), (2,2), (3,0).
  • the shelf of the storage point (0,1) will be exchanged with the shelf of the storage point (0,0);
  • the shelf of the storage point (1,1) is about to exchange the position of the shelf of the storage point (1,0);
  • the shelf of the storage point (3,2) will be exchanged with the shelf of the storage point (2,1);
  • the shelf at storage point (4,0) is swapped with the shelf at storage point (3,0).
  • the transfer task is assigned to the transfer AGV.
  • the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an even number, assuming it is 6, then 3 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.
  • the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an odd number, assuming it is 5, then 2 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.
  • the present application also relates to a storage system, including: multiple storage points, multiple shelves, transport vehicles and control devices, each storage point has a heat attribute; multiple shelves are distributed at the storage point, each shelf has a heat attribute; control The device communicates with the truck and is configured to know the position of the rack and to perform the rack shifting method as described above.
  • the present application also relates to a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above-mentioned shelf shifting method when executed by a processor.

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Abstract

Procédé de déplacement d'étagère, consistant à : S11, calculer, sur la base d'une configuration de paramètres initiale d'étagères et de points de stockage, une valeur d'attribut de popularité de chaque étagère ; S12, déterminer l'attribut de popularité de chaque étagère sur la base de la séquence d'agencement des valeurs d'attribut de popularité des étagères et de proportions de points de stockage ; S13, calculer des gains de déplacement des étagères sur la base du degré de non-correspondance entre les attributs de popularité des étagères et des attributs de popularité des points de stockage et de distances de déplacement des étagères ; S14, établir un schéma de déplacement global des étagères sur la base des gains de déplacement des étagères ; et S15, attribuer des tâches de déplacement à des véhicules de transport sur la base du schéma de déplacement global. Selon le procédé, les distances de déplacement des étagères peuvent être réduites, le temps de fonctionnement peut être raccourci, et un déplacement d'étagère précis et efficace peut être exécuté.
PCT/CN2022/099566 2021-06-18 2022-06-17 Procédé de déplacement d'étagère, système d'entreposage, et support d'enregistrement informatique WO2022262863A1 (fr)

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